diff --git a/tests/periman/periman.ino b/tests/periman/periman.ino
new file mode 100644
index 00000000000..2a77ce005bd
--- /dev/null
+++ b/tests/periman/periman.ino
@@ -0,0 +1,308 @@
+/* Peripheral Manager test
+ *
+ * This test is using Serial to check if the peripheral manager is able to
+ * attach and detach peripherals correctly on shared pins.
+ * Make sure that the peripheral names contain only letters, numbers and underscores.
+ *
+ * This test skips the following peripherals:
+ * - USB: USB is not able to be detached
+ * - SDMMC: SDMMC requires a card to be mounted before the pins are attached
+ */
+
+#if SOC_I2S_SUPPORTED
+#include "ESP_I2S.h"
+#endif
+
+#if SOC_I2C_SUPPORTED
+#include "Wire.h"
+#endif
+
+#if SOC_GPSPI_SUPPORTED
+#include "SPI.h"
+#endif
+
+#define ETH_PHY_TYPE        ETH_PHY_LAN8720
+#define ETH_PHY_ADDR         0
+#define ETH_PHY_MDC         23
+#define ETH_PHY_MDIO        18
+#define ETH_PHY_POWER       -1
+#define ETH_CLK_MODE        ETH_CLOCK_GPIO0_IN
+
+#include "ETH.h"
+
+/* Definitions */
+
+#define UART1_RX_DEFAULT 4
+#define UART1_TX_DEFAULT 5
+
+#define ADC1_DEFAULT A4
+
+#if CONFIG_IDF_TARGET_ESP32
+# define ADC2_DEFAULT A5
+#else
+# define ADC2_DEFAULT A3
+#endif
+
+#if CONFIG_IDF_TARGET_ESP32
+# define TOUCH1_DEFAULT T0
+# define TOUCH2_DEFAULT T2
+#else
+# define TOUCH1_DEFAULT T4
+# define TOUCH2_DEFAULT T5
+#endif
+
+/* Global variables */
+
+bool test_executed = false;
+String current_test;
+int8_t uart1_rx_pin;
+int8_t uart1_tx_pin;
+
+/* Callback functions */
+
+void onReceive_cb(void) {
+  // This is a callback function that will be activated on UART RX events
+  size_t available = Serial1.available();
+  while (available --) {
+    Serial.print((char)Serial1.read());
+  }
+}
+
+// This function is called by before each test is run
+void setup_test(String test_name, int8_t rx_pin = UART1_RX_DEFAULT, int8_t tx_pin = UART1_TX_DEFAULT) {
+  log_v("Setting up %s test", test_name.c_str());
+
+  current_test = test_name;
+  uart1_rx_pin = rx_pin;
+  uart1_tx_pin = tx_pin;
+  test_executed = false;
+
+  pinMode(uart1_rx_pin, INPUT_PULLUP);
+  pinMode(uart1_tx_pin, OUTPUT);
+  Serial1.setPins(uart1_rx_pin, uart1_tx_pin);
+  uart_internal_loopback(1, uart1_rx_pin);
+  delay(100);
+  log_v("Running %s test", test_name.c_str());
+}
+
+// This function is called after each test is run
+void teardown_test(void) {
+  log_v("Tearing down %s test", current_test.c_str());
+  if (test_executed) {
+    pinMode(uart1_rx_pin, INPUT_PULLUP);
+    pinMode(uart1_tx_pin, OUTPUT);
+    Serial1.print(current_test);
+    Serial1.println(" test: This should not be printed");
+    Serial1.flush();
+
+    Serial1.setPins(uart1_rx_pin, uart1_tx_pin);
+    uart_internal_loopback(1, uart1_rx_pin);
+    delay(100);
+  }
+
+  Serial1.print(current_test);
+  Serial1.println(" test: This should be printed");
+  Serial1.flush();
+
+  log_v("Finished %s test", current_test.c_str());
+}
+
+/* Test functions */
+/* These functions must only init the peripheral on the same pins and update "current_test" */
+
+void gpio_test(void) {
+  setup_test("GPIO");
+  test_executed = true;
+  pinMode(uart1_rx_pin, INPUT);
+  pinMode(uart1_tx_pin, OUTPUT);
+  digitalRead(uart1_rx_pin);
+  digitalWrite(uart1_tx_pin, HIGH);
+  teardown_test();
+}
+
+void sigmadelta_test(void) {
+  setup_test("SigmaDelta");
+#if SOC_SDM_SUPPORTED
+  test_executed = true;
+  if (!sigmaDeltaAttach(uart1_rx_pin, 312500)) {
+    Serial.println("SigmaDelta init failed");
+  }
+  if (!sigmaDeltaAttach(uart1_tx_pin, 312500)) {
+    Serial.println("SigmaDelta init failed");
+  }
+#endif
+  teardown_test();
+}
+
+void adc_oneshot_test(void) {
+#if !SOC_ADC_SUPPORTED
+  setup_test("ADC_Oneshot");
+#else
+  setup_test("ADC_Oneshot", ADC1_DEFAULT, ADC2_DEFAULT);
+  test_executed = true;
+  analogReadResolution(12);
+  pinMode(ADC1_DEFAULT, INPUT);
+  pinMode(ADC2_DEFAULT, INPUT);
+  analogRead(ADC1_DEFAULT);
+  analogRead(ADC2_DEFAULT);
+#endif
+  teardown_test();
+}
+
+#if SOC_ADC_SUPPORTED
+volatile bool adc_coversion_done = false;
+void ARDUINO_ISR_ATTR adcComplete() {
+  adc_coversion_done = true;
+}
+#endif
+
+void adc_continuous_test(void) {
+#if !SOC_ADC_SUPPORTED
+  setup_test("ADC_Continuous");
+#else
+  setup_test("ADC_Continuous", ADC1_DEFAULT, ADC2_DEFAULT);
+  test_executed = true;
+  uint8_t adc_pins[] = {ADC1_DEFAULT, ADC2_DEFAULT};
+  uint8_t adc_pins_count = 2;
+  adc_continuos_data_t * result = NULL;
+
+  analogContinuousSetWidth(12);
+  analogContinuousSetAtten(ADC_11db);
+
+  analogContinuous(adc_pins, adc_pins_count, 6, 20000, &adcComplete);
+  analogContinuousStart();
+
+  while (adc_coversion_done == false) {
+    delay(1);
+  }
+
+  if (!analogContinuousRead(&result, 0)) {
+    Serial.println("ADC continuous read failed");
+  }
+
+  analogContinuousStop();
+#endif
+  teardown_test();
+}
+
+void dac_test(void) {
+#if !SOC_DAC_SUPPORTED
+  setup_test("DAC");
+#else
+  setup_test("DAC", DAC1, DAC2);
+  test_executed = true;
+  dacWrite(DAC1, 255);
+  dacWrite(DAC2, 255);
+#endif
+  teardown_test();
+}
+
+void ledc_test(void) {
+  setup_test("LEDC");
+#if SOC_LEDC_SUPPORTED
+  test_executed = true;
+  if (!ledcAttach(uart1_rx_pin, 5000, 12)) {
+    Serial.println("LEDC init failed");
+  }
+  if (!ledcAttach(uart1_tx_pin, 5000, 12)) {
+    Serial.println("LEDC init failed");
+  }
+#endif
+  teardown_test();
+}
+
+void rmt_test(void) {
+  setup_test("RMT");
+#if SOC_RMT_SUPPORTED
+  test_executed = true;
+  if (!rmtInit(uart1_rx_pin, RMT_TX_MODE, RMT_MEM_NUM_BLOCKS_1, 10000000)) {
+    Serial.println("RMT init failed");
+  }
+  if (!rmtInit(uart1_tx_pin, RMT_RX_MODE, RMT_MEM_NUM_BLOCKS_1, 10000000)) {
+    Serial.println("RMT init failed");
+  }
+#endif
+  teardown_test();
+}
+
+void i2s_test(void) {
+  setup_test("I2S");
+#if SOC_I2S_SUPPORTED
+  test_executed = true;
+  I2SClass i2s;
+
+  i2s.setPins(uart1_rx_pin, uart1_tx_pin, -1);
+  i2s.setTimeout(1000);
+  if (!i2s.begin(I2S_MODE_STD, 16000, I2S_DATA_BIT_WIDTH_16BIT, I2S_SLOT_MODE_STEREO)) {
+    Serial.println("I2S init failed");
+  }
+#endif
+  teardown_test();
+}
+
+void i2c_test(void) {
+  setup_test("I2C");
+#if SOC_I2C_SUPPORTED
+  test_executed = true;
+  if (!Wire.begin(uart1_rx_pin, uart1_tx_pin)) {
+    Serial.println("I2C init failed");
+  }
+#endif
+  teardown_test();
+}
+
+void spi_test(void) {
+  setup_test("SPI");
+#if SOC_GPSPI_SUPPORTED
+  test_executed = true;
+  SPI.begin(uart1_rx_pin, uart1_tx_pin, -1, -1);
+#endif
+  teardown_test();
+}
+
+void touch_test(void) {
+#if !SOC_TOUCH_SENSOR_SUPPORTED
+  setup_test("Touch");
+#else
+  setup_test("Touch", TOUCH1_DEFAULT, TOUCH2_DEFAULT);
+  test_executed = true;
+  touchRead(TOUCH1_DEFAULT);
+  touchRead(TOUCH2_DEFAULT);
+#endif
+  teardown_test();
+}
+
+void eth_test(void) {
+  setup_test("ETH");
+  test_executed = true;
+  ETH.begin();
+  teardown_test();
+}
+
+/* Main functions */
+
+void setup() {
+  Serial.begin(115200);
+  while(!Serial) { delay(10); }
+
+  Serial1.setPins(UART1_RX_DEFAULT, UART1_TX_DEFAULT);
+  Serial1.begin(115200);
+  while(!Serial1) { delay(10); }
+  Serial1.onReceive(onReceive_cb);
+  uart_internal_loopback(1, uart1_rx_pin);
+
+  gpio_test();
+  sigmadelta_test();
+  ledc_test();
+  rmt_test();
+  i2s_test();
+  i2c_test();
+  spi_test();
+  adc_oneshot_test();
+  adc_continuous_test();
+  dac_test();
+  touch_test();
+  eth_test();
+}
+
+void loop() {}
diff --git a/tests/periman/test_periman.py b/tests/periman/test_periman.py
new file mode 100644
index 00000000000..520d2a9b2ed
--- /dev/null
+++ b/tests/periman/test_periman.py
@@ -0,0 +1,22 @@
+def test_periman(dut):
+    peripherals = ["GPIO", "SigmaDelta", "LEDC", "RMT", "I2S", "I2C", "SPI",
+                   "ADC_Oneshot", "ADC_Continuous", "DAC", "Touch", "ETH"]
+
+    pattern = rb"\b\w+\b test: This should(?: not)? be printed"
+
+    while peripherals:
+        try:
+            res = dut.expect(pattern, timeout=10)
+        except:
+            assert False, f"Missing peripherals output: {peripherals}"
+
+        console_output = res.group(0).decode("utf-8")
+        peripheral = console_output.split()[0]
+
+        if "not" in console_output:
+            assert False, f"Peripheral {peripheral} printed when it should not"
+
+        if peripheral in peripherals:
+            peripherals.remove(peripheral)
+        else:
+            assert False, f"Unknown peripheral: {peripheral}"